One of the purposes of the curve alignment has been to recover a structural mean of the curves by taking into account the common structural information or shape. Borrowing ideas from shape analysis, we introduce the Frenet-Serret framework to remove phase variation and to define a mean shape for three dimensional curves. Our method effectively regularizes the estimation of the geometry through curvature and torsion, and does not require curve alignment to define a mean. The method is demonstrated with the juggling data set.